CN218364823U

CN218364823U - Profiling wire clamping manipulator

Info

Publication number: CN218364823U
Application number: CN202221384944.XU
Authority: CN
Inventors: 刘献伟; 廖永洪; 蒯爱军
Original assignee: Shenzhen Jingmaoda Technology Co ltd
Current assignee: Shenzhen Jingmaoda Technology Co ltd
Priority date: 2022-06-06
Filing date: 2022-06-06
Publication date: 2023-01-24
Anticipated expiration: 2032-06-06

Abstract

The utility model relates to the technical field of machinery, and a copying wire clamping manipulator applied to clamping wires is disclosed, the manipulator is arranged on a two-axis robot consisting of an X-axis module and a Z-axis module, the side surface of the manipulator is fixedly connected to the movable part of the Z-axis module, the manipulator comprises a wire pushing cylinder, the bottom of the wire pushing cylinder is movably connected with a cross bar, a plurality of copying push rods are movably connected to the cross bar, and a wire clamping cylinder is fixedly arranged on one side of the wire pushing cylinder; the mechanical gripper also comprises a bearing plate, a plurality of groups of profiling fixed clamps and profiling movable clamps are arranged at the bottom of the bearing plate, and a plurality of push plates are arranged below the bearing plate; utility model can be accurate accomplish the profile modeling of a plurality of wires and snatch work simultaneously to the wire rod according to the shape of design, can realize automated production mode, and then improve production efficiency, improve the production qualification rate, reduction in production cost and resource loss simultaneously.

Description

Profiling wire clamping manipulator

Technical Field

The utility model relates to the technical field of machinery, more specifically relates to profile modeling trapping mechanism hand.

Background

The manipulator is an automatic operation which can imitate some action functions of human hand and arm, and can be used for grasping and transporting articles or operating tools, and is characterized by that it can implement various expected operations by means of programming, and has the advantages of both human and manipulator in structure and performance.

When the profiling wire clamping manipulator used by people at present is used, a 300-series motor middle plate is threaded due to the fact that a wire core is thin and has instability, the threading angle is small, a wire end needs to penetrate into a small hole of a motor rear cover, meanwhile, two wires need to be fixed in a curve clamping groove of the middle plate, the process difficulty is high, and therefore from the production of 300 motors to 20 years, the middle plate threading operation is always manual threading, the production efficiency of 300-series motors is severely limited, and the problems of low efficiency, high cost and low threading rate of the middle plate of the 300-series motors are urgently needed to be solved in the market.

SUMMERY OF THE UTILITY MODEL

In order to overcome the above-mentioned defect of prior art, the utility model provides a profile modeling presss from both sides line manipulator to solve the problem that exists among the above-mentioned background art.

The utility model provides a following technical scheme: the utility model discloses a two-axis robot, including X axle module and Z axle module, the robot is grabbed and is installed on the diaxon robot of compriseing X axle module and Z axle module, the side fixed connection that the robot is grabbed is on the movable part of Z axle module, the robot is grabbed including pushing away the line cylinder, the bottom swing joint that pushes away the line cylinder has the horizontal bar, swing joint has a plurality of profile modeling push rod on the horizontal bar, push away the back of line cylinder and install the backplate, install the loading board below the backplate, the double-layered line cylinder is installed to the higher authority of loading board, left fixed plate and right fixed plate are installed to the both sides of loading board, one side of loading board is installed and is moved the clamp push pedal, move the bottom fixedly connected with L shape connecting plate that presss from both sides the push pedal, one side swing joint of L shape connecting plate has the pull rod, the push pedal is installed to one side of pull rod, the push pedal promotes the imitative clamp closure, it presss from both sides tightly to drive the profile modeling through the double-layered line cylinder, accomplish line and profile modeling, through pushing away the line cylinder for equipment can carry out a propulsion material's effect through pushing away the line cylinder, profile modeling robot is grabbed with Z axle module for the combination of X axle module can be followed X axle and Z axle module, and accomplish the manipulator motion.

Furthermore, the profile modeling clamp comprises profile modeling clamping blocks, the plurality of profile modeling clamping blocks are equidistantly arranged on the bearing plate, the profile modeling clamping blocks are arranged and combined in an equidistant mode and are of a structure, and the profile modeling clamping blocks are used as a grabbing reference and are used for accurately positioning the position of a material.

Further, the profile modeling presss from both sides including the profile modeling moves the clamp splice, the sliding connection that the clamp splice equidistance was arranged is moved to a plurality of profile modeling on the guide arm, drive a plurality of push pedal through the pull rod, the push pedal indirectly promotes a plurality of profile modeling and moves the clamp splice, makes the profile modeling press from both sides tight, accomplishes the action of carrying out the profile modeling and snatching to the wire rod.

Furthermore, a compensation spring is arranged between the push plate and the copying movable clamping blocks, the compensation spring controls each copying movable clamping block to be tightly attached to the copying fixed clamping block, the clamping force is evenly distributed, and the stability of wire clamping and copying is improved.

Further, install the horizontal bar below the line push cylinder, the equipartition is arranged there is a plurality of swing joint's profile modeling push rod on the horizontal bar, sliding connection between the clamp splice is decided to profile modeling push rod and profile modeling, the slide of clamp splice is decided to the profile modeling part of profile modeling push rod stretches out the profile modeling, the push rod is located the profile modeling of clamp splice is decided to the profile modeling and the profile modeling of clamp splice is moved to the profile modeling, through the action of line push cylinder, drive the profile modeling push rod and slide in the profile modeling presss from both sides, release the profile modeling clamp with the wire rod, accomplish the action of putting down to the wire rod.

The utility model discloses a technological effect and advantage:

the utility model discloses a for filling the automatic blank of lid threading behind 300 series motors, the aim at of the invention provides a full-automatic lid threading equipment behind 300 series motors, realizes the full automated production mode of getting line, plug wire, card line, and then improves production efficiency, improves the production qualification rate, reduces production finished product and resource loss simultaneously.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is the schematic view of the overall structure of the manipulator of the present invention.

Fig. 3 is a back schematic view of the manipulator grasping structure of the present invention.

Fig. 4 is a schematic view of the profiling movable clamp of the present invention.

Fig. 5 is a schematic structural view of the profiling fixed clamping assembly of the present invention.

The reference signs are: 1. grabbing by a manipulator; 101. a wire pushing cylinder; 102. a horizontal bar; 103. a wire clamping cylinder; 105. carrying a plate; 106. profiling; 1061. profiling the movable clamping block; 1062. pushing a plate; 1063. profiling and fixing the clamping block; 1064. profiling push rods; 1065. a compensation spring; 1066. a guide bar; 1067. a wire rod; 107. An adjusting plate; 108. adjusting the sliding block; 109. a back plate; 110. a right fixing plate; 111. a movable clamp push plate; 112. An L-shaped connecting plate; 113. a pull rod; 114. a left fixing plate; 2. an X-axis module; 3. and a Z-axis module.

Detailed Description

The present invention will be described more fully with reference to the accompanying drawings, and the embodiments of the present invention are merely examples, and the copying and clamping robot according to the present invention is not limited to the embodiments described below, and all other embodiments obtained by those skilled in the art without creative efforts will fall within the scope of the present invention.

Referring to fig. 1-5, the utility model provides a copying thread clamping manipulator, one side of the manipulator grab 1 is movably connected with an X-axis module 2 and a Z-axis module 3, the manipulator grab 1 comprises a thread pushing cylinder 101, the bottom of the thread pushing cylinder 101 is fixedly connected with a horizontal bar 102, the horizontal bar 102 is movably sleeved with a copying clamp 106, the back surface of the thread pushing cylinder 101 is provided with a back plate 109, the back plate 109 is provided with a groove, the lower surface of the back plate 109 is fixedly provided with a bearing plate 105, the upper surface of the bearing plate 105 is fixedly connected with a thread clamping cylinder 103, the lower surface of the bearing plate 105 is provided with a plurality of copying clamps 106, each copying clamp 106 is internally provided with a copying movable clamping block 1061, the back plate 109 is fixedly connected with an adjusting plate 107, one side of the adjusting plate 107 is provided with an adjusting slide block 108, the adjusting slide block 108 is slidably connected with the groove of the back plate 109, one side of the bearing plate 105 is fixedly connected with a right fixing plate 110, one side of the bearing plate 105 is fixedly connected with a left fixing plate 114, one side of the bearing plate 105 is slidably connected with a movable clamp push plate 111, the bottom of the movable clamp push plate 111 is fixedly connected with an L-shaped connecting plate 112, one side of the L-shaped connecting plate 112 is fixedly connected with a pull rod 113; a push plate 1062 is installed on one side of the pull rod 113, the push plate 1062 pushes the profile clamp 106 to be closed, the profile clamp 106 is driven to be clamped through the wire clamping cylinder 103, the wire 1067 and profile modeling are completed, the device can perform the function of pushing materials through the wire pushing cylinder 101, and the profiling manipulator grabs the combination of the 1, the Z-axis module 3 and the X-axis module 2, so that the manipulator can move along the directions of the X axis and the Z axis, and the work operation is completed.

Preferably, the profiling clamp 106 comprises profiling fixed clamping blocks 1063, a plurality of profiling fixed clamping blocks 1063 are equidistantly mounted on the bearing plate 105, and by providing the profiling fixed clamping blocks 1063, the profiling fixed clamping blocks 1063 are a structure which is arranged and combined equidistantly, and the profiling fixed clamping blocks 1063 are used as a reference for grabbing and accurately positioning the position of the wire 1067.

Preferably, the plurality of profile modeling clamping blocks 1061 are arranged at equal intervals and slidably connected to the guide rod 1066, the pull rod 113 drives the plurality of push plates 1062, and the push plates 1062 indirectly push the plurality of profile modeling clamping blocks 1061, so that the profile modeling clamp 106 is clamped, and the profiling and grabbing actions of the wire 1067 are completed.

Preferably, a compensation spring 1065 is arranged between the push plate 1062 and the copying clamp block 1061, and the compensation spring 1065 controls each copying clamp block 1061 to be closely attached to the copying clamp block 1063, and distributes clamping force uniformly, thereby increasing the stability of clamping the wire 1067 and copying.

Preferably, a cross bar 102 is installed below the wire pushing cylinder 101, a plurality of profile modeling push rods 1064 movably connected are uniformly distributed on the cross bar 102, the profile modeling push rods 1064 are slidably connected with the profile modeling fixed clamping block 1063, a profile modeling portion of the profile modeling push rods 1064 extends out of a slide way of the profile modeling fixed clamping block 1063, the profile modeling portion of the profile modeling push rods 1064 is positioned between a profile modeling surface of the profile modeling fixed clamping block 1063 and a profile modeling surface of the profile modeling movable clamping block 1061, and the action of the wire pushing cylinder 101 drives the profile modeling push rods 1064 to slide in the profile modeling clamps 106 to push the wire 1067 out of the profile modeling clamps 106, so as to complete the action of putting down the wire 1067.

Preferably, the adjusting slider 108 is fixedly mounted on the adjusting plate 107, the heights of the two ends of the adjusting slider 108 can be adjusted on the mounting surface of the adjusting plate 107, and the left and right heights of the plurality of sets of profile clips 106 are adjusted through the tight sliding connection between the groove of the back plate 109 and the adjusting slider 108.

The utility model discloses a theory of operation:

by using equipment and enabling the equipment to run, the X module is arranged on the top plate through the X module, the X module 2 and the Z module 3 form a two-axis manipulator, a manipulator grab 1 is arranged on the modules, a plurality of pairs of profiling mechanical fingers are arranged on the manipulator grab 1, a plurality of profiling fixing clamps are fixedly arranged on the bottom surface of a bearing plate 105, and a left fixing plate 114 and a right fixing plate 110 are arranged on two sides of the bearing plate 105; the plurality of profile modeling clamping blocks 1061, the compensation spring 1065 and the push plate 1062 are arranged on the plurality of guide rods 1066, and are sequentially arranged according to the sequence of the push plate 1062, the compensation spring, the profile modeling clamping blocks 1061 and the push plate 1062, and can slide on the guide rods, and are arranged on the bearing plate 105 through the left fixing plate 114 and the right fixing plate 110 at the two ends of the guide rods, and form a new arrangement with the plurality of profile modeling clamping blocks 1063 arranged on the bearing plate 105: the push plate 1062, the compensation spring 1065, the profile modeling clamping block 1061, the profile modeling fixed clamp 1063, the push plate 1062 is fixed on the pull rod 113; when the manipulator clamps the wire, the wire clamping cylinder 103 retracts to drive the wire clamping push plate 111 to move, the push plate 1062 on the pull rod 113 is driven to move through the L-shaped connecting plate 112, the push plate 1062 pushes the compensation spring 1065, the profiling movable clamping block 1061 is pushed to move through the compensation spring 1065, so that the profiling movable clamping block 1061 and the profiling fixed clamping block 1063 are closed and clamped, the compensation spring 1065 can compensate the installation error of each push plate 1062, the thrust of each profiling movable clamping block 1061 is uniformly distributed, a plurality of pairs of profiling clamps 106 can be ensured to clamp the wire 1067, and the wire 1067 is profiled into a required shape, the back plate 109 is connected with the bearing plate 105 through screws, the wire pushing cylinder 101 is installed on one surface of the back plate 109, the cross bar 102 is installed on the wire pushing cylinder 101, the plurality of profiling push rods 1064 are movably connected with the cross bar 102 through pins, the profiling push rods 1064 are connected with the profiling clamping blocks 1063 through sliding grooves, after the profiling clamp 106 is closed, profiling of the profiling push rods 1064 can slide in a profiling closed area of the profiling clamp 106 and are used for pushing a wire to the bottom flush position of the profiling clamp 106 during wire end shaping, and pushing the wire to a clamping groove of a product during wire plugging; the other side of the back plate 109 is recessed to form a sliding fit with an adjustment slide 108 mounted on the adjustment plate 107.

The points to be finally explained are: first, in the description of the present application, it should be noted that, unless otherwise specified and limited, the terms "mounted," "connected," and "connected" should be understood broadly, and may be a mechanical connection or an electrical connection, or a communication between two elements, and may be a direct connection, and "upper," "lower," "left," and "right" are only used to indicate a relative positional relationship, and when the absolute position of the object to be described is changed, the relative positional relationship may be changed;

secondly, the method comprises the following steps: in the drawings of the disclosed embodiments of the present invention, only the structures related to the disclosed embodiments are referred to, and other structures can refer to the common design, and under the condition of no conflict, the same embodiment and different embodiments of the present invention can be combined with each other;

and finally: the above description is only for the preferred embodiment of the present invention and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. Profiling wire clamping manipulator, including manipulator grab (1), its characterized in that: one side swing joint of manipulator grab (1) has X axle module (2) and Z axle module (3), manipulator grab (1) is including pushing away line cylinder (101), the bottom fixedly connected with horizontal bar (102) of pushing away line cylinder (101), press from both sides (106) loop joint with the profile modeling on horizontal bar (102), push away line cylinder (101) back mounted has backplate (109), backplate (109) are opened flutedly, fixed mounting has loading board (105) below backplate (109), the higher authority fixedly connected with presss from both sides line cylinder (103) of loading board (105), install a plurality of imitative clamp (106) below loading board (105), every imitative clamp (106) inside including profile modeling moves clamp splice (1061), backplate (109) and regulating plate (107) fixed connection, adjustment slider (108) are installed to one side of regulating plate (107), adjustment slider (108) and backplate (109)'s recess sliding connection, one side fixedly connected with right fixed plate (110) of loading board (105), one side fixed connection of loading board (105) has left side fixed plate (105) and the push pedal (111) movable connection of push pedal (111) clamp (111), one side of the L-shaped connecting plate (112) is fixedly connected with a pull rod (113).

2. The contoured pinching robot of claim 1, wherein: the round hole has been seted up on the installation position of clamp splice (1061) is moved in the profile modeling, separable swing joint is made with push pedal (1062) in one side of clamp splice (1061) is moved in the profile modeling, the round hole has been seted up on push pedal (1062), compensation spring (1065) are installed to the profile modeling between clamp splice (1061) and push pedal (1062), clamp splice (1061) and push pedal (1062) and compensation spring (1065) equal slidable mounting are on guide arm (1066) moved in the profile modeling, guide arm (1066) both ends fixed mounting is on right fixed plate (110) and left fixed plate (114), and clamp splice (1063) fixed mounting is decided in loading board (105) bottom, the inside sliding connection of clamp splice (1063) is decided in the profile modeling has profile modeling push rod (1064), push pedal (1062) fixed connection is on pull rod (113).

3. The contoured pinching robot of claim 2, wherein: the profiling fixed clamping block (1063), the profiling movable clamping block (1061) and the profiling push rod (1064) are consistent in profile arc surface, and the profiling part of the profiling push rod (1064) extends out of the profiling fixed clamping block (1063) and is positioned between the profiling surface of the profiling fixed clamping block (1063) and the profiling surface of the profiling movable clamping block (1061).

4. The contoured pinching robot of claim 2, wherein: the push plates (1062) arranged on the profiling push rod (1064) compress the compensation spring (1065), and the compensation spring (1065) pushes the profiling movable clamping block (1061) to move towards the profiling fixed clamping block (1063) and finally to be abutted against the profiling fixed clamping block, so that the clamping force of each profiling movable clamping block (1061) can be balanced and distributed.

5. The contoured pinching robot of claim 2, wherein: the profile modeling clamps (106) are of an equidistance arrangement combined structure, the profile modeling fixed clamping blocks (1063) are fixed, each profile modeling movable clamping block (1061) can slide along a guide rod (1066), and two ends of each guide rod (1066) are fixedly connected with the right fixing plate (110) and the left fixing plate (114) respectively.

6. The contoured pinching robot of claim 1, wherein: the transverse bar (102) is movably connected with a plurality of profiling push rods (1064) at equal intervals, and the wire pushing cylinder (101) drives the profiling push rods (1064) to slide up and down in the profiling clamp (106).

7. The contoured pinching robot of claim 1, wherein: the adjusting slide block (108) is fixedly arranged on the adjusting plate (107), the heights of two ends of the adjusting slide block (108) can be adjusted on the mounting surface of the adjusting plate (107), and the left and right heights of the plurality of groups of profile clamps (106) are adjusted through the tight sliding connection of the groove of the back plate (109) and the adjusting slide block (108).